simuv3 minor update

Ongoing process of reviewing simuv3.  Finished with car.cpp today.
NOTE, BUG, TO-DO in the code are used for points of interest.

* car.cpp:
	Code cleanup.
	Added mass distribution dependence of rotational inertia to the other
axes, since it was for some reason only added to the z axis.

Cheers, christos

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